Class LoopClosureVisualizer

Class Documentation

class loop_closure_visualization::LoopClosureVisualizer

Public Types

typedef std::unordered_map<vi_map::LandmarkId, vi_map::LandmarkId> LandmarkToLandmarkMap

Public Functions

LoopClosureVisualizer()
virtual ~LoopClosureVisualizer()
void visualizeMergedLandmarks(const loop_closure_handler::LoopClosureHandler::MergedLandmark3dPositionVector &landmark_pairs_merged)
void visualizeKeyframeToStructureMatches(const vi_map::LoopClosureConstraintVector &inlier_constraints, const vi_map::LoopClosureConstraintVector &all_constraints, const LandmarkToLandmarkMap &merged_landmark_map, const vi_map::VIMap &map)
void visualizeKeyframeToStructureMatch(const vi_map::VertexKeyPointToStructureMatchList &structure_matches, const Eigen::Vector3d &query_position, const summary_map::LocalizationSummaryMap &localization_summary_map)
void visualizeFullMapDatabase(const vi_map::MissionIdList &missions, const vi_map::VIMap &map)
void visualizeSummaryMapDatabase(const summary_map::LocalizationSummaryMap &localization_summary_map)

Public Members

LoopClosureVisualizer